Comprehensive smart-clamp strategy for inverter systems

ABSTRACT

A current command module is configured to, based on a motor torque request for an electric motor of the vehicle, generate a d-axis current command for the electric motor and a q-axis current command for the electric motor. A voltage command module is configured to generate voltage commands based on the d-axis current command and the q-axis current command. A switching control module is configured to: based on the d-axis current command and the q-axis current command, determine a first duty cycle command for a phase of the electric motor; generate a second duty cycle command based on the first duty cycle command, a predetermined minimum period to transition switches of an inverter module from OFF to ON, a predetermined switching period, a predetermined deadtime period when both of the switches are OFF before one of the switches is turned ON, and whether a current of the phase is positive.

INTRODUCTION

The information provided in this section is for the purpose of generally presenting the context of the disclosure. Work of the presently named inventors, to the extent it is described in this section, as well as aspects of the description that may not otherwise qualify as prior art at the time of filing, are neither expressly nor impliedly admitted as prior art against the present disclosure.

The present disclosure relates to vehicle propulsion systems and more particularly to systems and methods for controlling an electric motor of a vehicle.

Some types of vehicles include only an internal combustion engine that generates propulsion torque. Hybrid vehicles include both an internal combustion engine and one or more electric motors. Some types of hybrid vehicles utilize the electric motor and the internal combustion engine in an effort to achieve greater fuel efficiency than if only the internal combustion engine was used. Some types of hybrid vehicles utilize the electric motor and the internal combustion engine to achieve greater torque output than the internal combustion could achieve by itself.

Some example types of hybrid vehicles include parallel hybrid vehicles, series hybrid vehicles, and other types of hybrid vehicles. In a parallel hybrid vehicle, the electric motor works in parallel with the engine to combine power and range advantages of the engine with efficiency and regenerative braking advantages of electric motors. In a series hybrid vehicle, the engine drives a generator to produce electricity for the electric motor, and the electric motor drives a transmission. This allows the electric motor to assume some of the power responsibilities of the engine, which may permit the use of a smaller and possibly more efficient engine.

SUMMARY

In a feature, an electric motor control system of a vehicle is described. A current command module is configured to, based on a motor torque request for an electric motor of the vehicle, generate a d-axis current command for the electric motor and a q-axis current command for the electric motor. A voltage command module is configured to generate voltage commands based on the d-axis current command and the q-axis current command. A switching control module is configured to: based on the d-axis current command and the q-axis current command, determine a first duty cycle command for a phase of the electric motor; generate a second duty cycle command based on the first duty cycle command, a predetermined minimum period to transition switches of an inverter module from OFF to ON, a predetermined switching period, a predetermined deadtime period when both of the switches are OFF before one of the switches is turned ON, and whether a current of the phase is positive or negative, where the switches are connected between an energy storage device and the phase of the electric motor; and based on the second duty cycle command, control switching of the switches the inverter module and control application of power from the energy storage device to the phase of the electric motor.

In further features, the switching control module is configured to, when the current of the phase is positive and the first duty cycle command is greater than

$\frac{\left( {{T\; s} - \left( {{T\;{dead}} + {T\;\min}} \right)} \right)}{T\; s},$ but less than

$\frac{\left( {{T\; s} - {\left( {{T\;{dead}} + {T\;\min}} \right)/2}} \right)}{T\; s},$ set the second duty cycle command based on

$\frac{\left( {{T\; s} - \left( {{T\;{dead}} + {T\;\min}} \right)} \right)}{T\; s},$ where Ts is the predetermined switching period, Tmin is the predetermined minimum period to transition the switches from OFF to ON, and Tdead is the predetermined deadtime period.

In further features, the switching control module is configured to, when the current of the phase is positive and the first duty cycle command is greater than both

$\frac{\left( {{T\; s} - \left( {{T\;{dead}} + {T\;\min}} \right)} \right)}{T\; s}$ and

$\frac{\left( {{T\; s} - {\left( {{T\;{dead}} + {T\;\min}} \right)/2}} \right)}{T\; s},$ set the second duty cycle command based on a 100 percent duty cycle, where Ts is the predetermined switching period, Tmin is the predetermined minimum period to transition the switches from OFF to ON, and Tdead is the predetermined deadtime period.

In further features, the switching control module is configured to, when the current of the phase is positive and the first duty cycle command is less than

$\frac{\left( {{T\; s} - \left( {{T\;{dead}} + {T\;\min}} \right)} \right)}{T\; s},$ but greater than

$\frac{Tdead}{T\; s},$ set the second duty cycle command equal to the first duty cycle command, where Ts is the predetermined switching period, Tmin is the predetermined minimum period to transition the switches from OFF to ON, and Tdead is the predetermined deadtime period.

In further features, the switching control module is configured to, when the current of the phase is positive and the first duty cycle command is less than

$\frac{\left( {{T\; s} - \left( {{T\;{dead}} + {T\;\min}} \right)} \right)}{T\; s}$ and

$\frac{{Tdead}/2}{T\; s},$ set the second duty cycle command based on a 0 percent duty cycle, where Ts is the predetermined switching period, Tmin is the predetermined minimum period to transition the switches from OFF to ON, and Tdead is the predetermined deadtime period.

In further features, the switching control module is configured to, when the current of the phase is positive and the first duty cycle command is less than

$\frac{\left( {{T\; s} - \left( {{T\;{dead}} + {T\;\min}} \right)} \right)}{T\; s}$ and

$\frac{Tdead}{T\; s}$ but is greater than

$\frac{T\;{{dead}/2}}{T\; s},$ set the second duty cycle command based on

$\frac{Tdead}{T\; s},$ where Ts is the predetermined switching period, Tmin is the predetermined minimum period to transition the switches from OFF to ON, and Tdead is the predetermined deadtime period.

In further features, the switching control module is configured to, when the current of the phase is negative and the first duty cycle command is greater than

$\frac{{T\; s} - {T\;{dead}}}{T\; s},$ but less than

$\frac{{T\; s} - \left( {T\;{{dead}/2}} \right)}{T\; s},$ set the second duty cycle command based on

$\frac{{T\; s} - {T\;{dead}}}{T\; s},$ where Ts is the predetermined switching period, Tmin is the predetermined minimum period to transition the switches from OFF to ON, and Tdead is the predetermined deadtime period.

In further features, the switching control module is configured to, when the current of the phase is negative and the first duty cycle command is greater than both

$\frac{{T\; s} - {T\;{dead}}}{T\; s}$ and

$\frac{{T\; s} - \left( {T\;{{dead}/2}} \right)}{T\; s},$ set the second duty cycle command based on a 100 percent duty cycle, where Ts is the predetermined switching period, Tmin is the predetermined minimum period to transition the switches from OFF to ON, and Tdead is the predetermined deadtime period.

In further features, the switching control module is configured to, when the current of the phase is negative and the first duty cycle command is less than

$\frac{{T\; s} - {Tdead}}{T\; s},$ but greater than

$\frac{{Tdead} + {Tmin}}{T\; s},$ set the second duty cycle command equal to the first duty cycle command, where Ts is the predetermined switching period, Tmin is the predetermined minimum period to transition the switches from OFF to ON, and Tdead is the predetermined deadtime period.

In further features, the switching control module is configured to, when the current of the phase is negative and the first duty cycle command is less than

$\frac{{T\; s} - {Tdead}}{T\; s},\frac{{Tdead} + {Tmin}}{T\; s},$ and

$\frac{\left( {{Tdead} + {Tmin}} \right)/2}{T\; s},$ set the second duty cycle command based on a 0 percent duty cycle, where Ts is the predetermined switching period, Tmin is the predetermined minimum period to transition the switches from OFF to ON, and Tdead is the predetermined deadtime period.

In further features, the switching control module is configured to, when the current of the phase is negative and the first duty cycle command is less than

$\frac{{T\; s} - {Tdead}}{T\; s}$ and

$\frac{{Tdead} + {Tmin}}{T\; s},$ but greater than

$\frac{\left( {{Tdead} + {Tmin}} \right)/2}{T\; s},$ set the second duty cycle command based on

$\frac{{Tdead} + {Tmin}}{T\; s},$

where Ts is the predetermined switching period, Tmin is the predetermined minimum period to transition the switches from OFF to ON, and Tdead is the predetermined deadtime period.

In further features, a current sensor is configured to measure the current of the phase.

In further features, the predetermined deadtime period and the predetermined minimum period are less than the predetermined switching period.

In further features, the switching control module is further configured to: based on the d-axis current command and the q-axis current command, determine a third duty cycle command for a second phase of the electric motor; generate a fourth duty cycle command based on the third duty cycle command, the predetermined minimum period to transition second switches of the inverter module from OFF to ON, the predetermined switching period, the predetermined deadtime period, and whether a second current of the second phase is positive or negative, where the second switches are connected between the energy storage device and the second phase of the electric motor; and based on the fourth duty cycle command, control switching of the second switches the inverter module and control application of power from the energy storage device to the second phase of the electric motor.

In further features, the switching control module is further configured to: based on the d-axis current command and the q-axis current command, determine a fifth duty cycle command for a third phase of the electric motor; generate a sixth duty cycle command based on the fifth duty cycle command, the predetermined minimum period to transition third switches of the inverter module from OFF to ON, the predetermined switching period, the predetermined deadtime period, and whether a third current of the third phase is positive or negative, where the third switches are connected between the energy storage device and the third phase of the electric motor; and based on the sixth duty cycle command, control switching of the third switches the inverter module and control application of power from the energy storage device to the third phase of the electric motor.

In a feature, an electric motor control method for a vehicle includes: based on a motor torque request for an electric motor of the vehicle, generating a d-axis current command for the electric motor and a q-axis current command for the electric motor; generating voltage commands based on the d-axis current command and the q-axis current command; based on the d-axis current command and the q-axis current command, determining a first duty cycle command for a phase of the electric motor; generating a second duty cycle command based on the first duty cycle command, a predetermined minimum period to transition switches of an inverter module from OFF to ON, a predetermined switching period, a predetermined deadtime period when both of the switches are OFF before one of the switches is turned ON, and whether a current of the phase is positive or negative, where the switches are connected between an energy storage device and the phase of the electric motor; and based on the second duty cycle command, controlling switching of the switches the inverter module and controlling application of power from the energy storage device to the phase of the electric motor.

In further features, the method further includes: when the current of the phase is positive and the first duty cycle command is greater than

$\frac{\left( {{T\; s} - \left( {{Tdead} + {Tmin}} \right)} \right)}{T\; s},$ but less than

$\frac{\left( {{T\; s} - {\left( {{Tdead} + {Tmin}} \right)/2}} \right)}{T\; s},$ setting the second duty cycle command based on

$\frac{\left( {{T\; s} - \left( {{Tdead} + {Tmin}} \right)} \right)}{T\; s},$ where Ts is the predetermined switching period, Tmin is the predetermined minimum period to transition the switches from OFF to ON, and Tdead is the predetermined deadtime period; and, when the current of the phase is positive and the first duty cycle command is greater than both

$\frac{\left( {{T\; s} - \left( {{Tdead} + {Tmin}} \right)} \right)}{T\; s}$ and

$\frac{\left( {{T\; s} - {\left( {{Tdead} + {Tmin}} \right)/2}} \right)}{T\; s},$ setting the second duty cycle command based on a 100 percent duty cycle.

In further features, the method further includes: when the current of the phase is positive and the first duty cycle command is less than

$\frac{\left( {{T\; s} - \left( {{Tdead} + {Tmin}} \right)} \right)}{T\; s},$ but greater than

$\frac{Tdead}{T\; s},$ setting the second duty cycle command equal to the first duty cycle command, where Ts is the predetermined switching period, Tmin is the predetermined minimum period to transition the switches from OFF to ON, and Tdead is the predetermined deadtime period; and, when the current of the phase is positive and the first duty cycle command is less than

$\frac{\left( {{Ts} - \left( {{Tdead} + {Tmin}} \right)} \right)}{Ts}$ and

$\frac{{Tdead}/2}{Ts},$ setting the second duty cycle command based on a 0 percent duty cycle.

In further features, the method further includes: when the current of the phase is positive and the first duty cycle command is less than

$\frac{\left( {{Ts} - \left( {{Tdead} + {Tmin}} \right)} \right)}{Ts}$ and

$\frac{Tdead}{T\; s}$ but is greater than

$\frac{{Tdead}/2}{Ts},$ setting the second duty cycle command based on

$\frac{Tdead}{T\; s},$ where Ts is the predetermined switching period, Tmin is the predetermined minimum period to transition the switches from OFF to ON, and Tdead is the predetermined deadtime period; and, when the current of the phase is negative and the first duty cycle command is greater than

$\frac{{Ts} - {Tdead}}{Ts},$ but less than

$\frac{{Ts} - \left( {{Tdead}/2} \right)}{Ts},$ setting the second duty cycle command based on

$\frac{{Ts} - {Tdead}}{Ts}.$

In further features, the method further includes: when the current of the phase is negative and the first duty cycle command is greater than both

$\frac{{Ts} - {Tdead}}{Ts}$ and

$\frac{{Ts} - \left( {{Tdead}/2} \right)}{Ts},$ setting the second duty cycle command based on a 100 percent duty cycle, where Ts is the predetermined switching period, Tmin is the predetermined minimum period to transition the switches from OFF to ON, and Tdead is the predetermined deadtime period, when the current of the phase is negative and the first duty cycle command is less than

$\frac{{Ts} - {Tdead}}{Ts},$ but greater than

$\frac{{Tdead} + {Tmin}}{Ts},$ setting the second duty cycle command equal to the first duty cycle command; when the current of the phase is negative and the first duty cycle command is less than

$\frac{{Ts} - {Tdead}}{Ts},$

$\frac{{Tdead} + {Tmin}}{Ts},$ and

$\frac{\left( {{Tdead} + {Tmin}} \right)/2}{Ts},$ setting the second duty cycle command based on a 0 percent duty cycle; and, when the current of the phase is negative and the first duty cycle command is less than

$\frac{{Ts} - {Tdead}}{Ts}$ and

$\frac{{Tdead} + {Tmin}}{Ts},$ but greater than

$\frac{\left( {{Tdead} + {Tmin}} \right)/2}{Ts},$ setting the second duty cycle command based on

$\frac{{Tdead} + {Tmin}}{Ts}.$

Further areas of applicability of the present disclosure will become apparent from the detailed description, the claims and the drawings. The detailed description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure will become more fully understood from the detailed description and the accompanying drawings, wherein:

FIG. 1 is a functional block diagram of an example engine control system;

FIG. 2 is a functional block diagram of an example engine and motor control system;

FIG. 3 is a schematic including an example implementation of an inverter module;

FIG. 4 is a functional block diagram including an example implementation of a hybrid control module;

FIG. 5 is a functional block diagram of an example implementation of a switching control module; and

FIGS. 6A-6B are a flowchart depicting an example method of controlling an electric motor.

In the drawings, reference numbers may be reused to identify similar and/or identical elements.

DETAILED DESCRIPTION

An internal combustion engine of a vehicle combusts air and fuel within cylinders to generate propulsion torque. The engine outputs torque to wheels of the vehicle via a transmission. Some types of vehicles may not include an internal combustion engine or the internal combustion engine may not be mechanically coupled to a driveline of the vehicle.

An electric motor is mechanically coupled to a shaft of the transmission. Under some circumstances, a hybrid control module of the vehicle may apply power to the electric motor from a battery to cause the electric motor to output torque for vehicle propulsion. Under other circumstances, the hybrid control module may disable power flow to the electric motor and allow the transmission to drive rotation of the electric motor. The electric motor generates power when driven by the transmission. Power generated by the electric motor can be used to recharge the battery when a voltage generated via the electric motor is greater than a voltage of the battery.

A control module determines a d-axis current command and a q-axis current command for the electric motor based on a requested torque output of the electric motor. The control module determines initial duty cycle commands for the phases of the electric motor based on the d-axis current command and the q-axis current command. The control module determines final duty cycle commands for the phases of the electric motor based on the initial duty cycle commands for the phases of the electric motor, respectively.

According to the present disclosure, the control module selectively sets the final duty cycle command for a phase based on a predetermined minimum period when the initial duty cycle command of the phase is within a predetermined amount of 0 percent duty cycle and the current of that phase is positive. The control module selectively sets the final duty cycle command for a phase based on the predetermined minimum period when the initial duty cycle command of the phase is within a predetermined amount of 100 percent duty cycle and the current of that phase is negative. This improves linearity of output voltage to the electric motor, reduces current and torque ripple of the electric motor, and may reduce a possibility of occurrence of an overcurrent event.

Referring now to FIG. 1, a functional block diagram of an example powertrain system 100 is presented. The powertrain system 100 of a vehicle includes an engine 102 that combusts an air/fuel mixture to produce torque. The vehicle may be non-autonomous, semi-autonomous, or autonomous.

Air is drawn into the engine 102 through an intake system 108. The intake system 108 may include an intake manifold 110 and a throttle valve 112. For example only, the throttle valve 112 may include a butterfly valve having a rotatable blade. An engine control module (ECM) 114 controls a throttle actuator module 116, and the throttle actuator module 116 regulates opening of the throttle valve 112 to control airflow into the intake manifold 110.

Air from the intake manifold 110 is drawn into cylinders of the engine 102. While the engine 102 includes multiple cylinders, for illustration purposes a single representative cylinder 118 is shown. For example only, the engine 102 may include 2, 3, 4, 5, 6, 8, 10, and/or 12 cylinders. The ECM 114 may instruct a cylinder actuator module 120 to selectively deactivate some of the cylinders under some circumstances, as discussed further below, which may improve fuel efficiency.

The engine 102 may operate using a four-stroke cycle or another suitable engine cycle. The four strokes of a four-stroke cycle, described below, will be referred to as the intake stroke, the compression stroke, the combustion stroke, and the exhaust stroke. During each revolution of a crankshaft (not shown), two of the four strokes occur within the cylinder 118. Therefore, two crankshaft revolutions are necessary for the cylinder 118 to experience all four of the strokes. For four-stroke engines, one engine cycle may correspond to two crankshaft revolutions.

When the cylinder 118 is activated, air from the intake manifold 110 is drawn into the cylinder 118 through an intake valve 122 during the intake stroke. The ECM 114 controls a fuel actuator module 124, which regulates fuel injection to achieve a desired air/fuel ratio. Fuel may be injected into the intake manifold 110 at a central location or at multiple locations, such as near the intake valve 122 of each of the cylinders. In various implementations (not shown), fuel may be injected directly into the cylinders or into mixing chambers/ports associated with the cylinders. The fuel actuator module 124 may halt injection of fuel to cylinders that are deactivated.

The injected fuel mixes with air and creates an air/fuel mixture in the cylinder 118. During the compression stroke, a piston (not shown) within the cylinder 118 compresses the air/fuel mixture. The engine 102 may be a compression-ignition engine, in which case compression causes ignition of the air/fuel mixture. Alternatively, the engine 102 may be a spark-ignition engine, in which case a spark actuator module 126 energizes a spark plug 128 in the cylinder 118 based on a signal from the ECM 114, which ignites the air/fuel mixture. Some types of engines, such as homogenous charge compression ignition (HCCI) engines may perform both compression ignition and spark ignition. The timing of the spark may be specified relative to the time when the piston is at its topmost position, which will be referred to as top dead center (TDC).

The spark actuator module 126 may be controlled by a timing signal specifying how far before or after TDC to generate the spark. Because piston position is directly related to crankshaft rotation, operation of the spark actuator module 126 may be synchronized with the position of the crankshaft. The spark actuator module 126 may disable provision of spark to deactivated cylinders or provide spark to deactivated cylinders.

During the combustion stroke, the combustion of the air/fuel mixture drives the piston down, thereby driving the crankshaft. The combustion stroke may be defined as the time between the piston reaching TDC and the time when the piston returns to a bottom most position, which will be referred to as bottom dead center (BDC).

During the exhaust stroke, the piston begins moving up from BDC and expels the byproducts of combustion through an exhaust valve 130. The byproducts of combustion are exhausted from the vehicle via an exhaust system 134.

The intake valve 122 may be controlled by an intake camshaft 140, while the exhaust valve 130 may be controlled by an exhaust camshaft 142. In various implementations, multiple intake camshafts (including the intake camshaft 140) may control multiple intake valves (including the intake valve 122) for the cylinder 118 and/or may control the intake valves (including the intake valve 122) of multiple banks of cylinders (including the cylinder 118). Similarly, multiple exhaust camshafts (including the exhaust camshaft 142) may control multiple exhaust valves for the cylinder 118 and/or may control exhaust valves (including the exhaust valve 130) for multiple banks of cylinders (including the cylinder 118). While camshaft based valve actuation is shown and has been discussed, camless valve actuators may be implemented. While separate intake and exhaust camshafts are shown, one camshaft having lobes for both the intake and exhaust valves may be used.

The cylinder actuator module 120 may deactivate the cylinder 118 by disabling opening of the intake valve 122 and/or the exhaust valve 130. The time when the intake valve 122 is opened may be varied with respect to piston TDC by an intake cam phaser 148. The time when the exhaust valve 130 is opened may be varied with respect to piston TDC by an exhaust cam phaser 150. A phaser actuator module 158 may control the intake cam phaser 148 and the exhaust cam phaser 150 based on signals from the ECM 114. In various implementations, cam phasing may be omitted. Variable valve lift (not shown) may also be controlled by the phaser actuator module 158. In various other implementations, the intake valve 122 and/or the exhaust valve 130 may be controlled by actuators other than a camshaft, such as electromechanical actuators, electrohydraulic actuators, electromagnetic actuators, etc.

The engine 102 may include zero, one, or more than one boost device that provides pressurized air to the intake manifold 110. For example, FIG. 1 shows a turbocharger including a turbocharger turbine 160-1 that is driven by exhaust gases flowing through the exhaust system 134. A supercharger is another type of boost device.

The turbocharger also includes a turbocharger compressor 160-2 that is driven by the turbocharger turbine 160-1 and that compresses air leading into the throttle valve 112. A wastegate 162 controls exhaust flow through and bypassing the turbocharger turbine 160-1. Wastegates can also be referred to as (turbocharger) turbine bypass valves. The wastegate 162 may allow exhaust to bypass the turbocharger turbine 160-1 to reduce intake air compression provided by the turbocharger. The ECM 114 may control the turbocharger via a wastegate actuator module 164. The wastegate actuator module 164 may modulate the boost of the turbocharger by controlling an opening of the wastegate 162.

A cooler (e.g., a charge air cooler or an intercooler) may dissipate some of the heat contained in the compressed air charge, which may be generated as the air is compressed. Although shown separated for purposes of illustration, the turbocharger turbine 160-1 and the turbocharger compressor 160-2 may be mechanically linked to each other, placing intake air in close proximity to hot exhaust. The compressed air charge may absorb heat from components of the exhaust system 134.

The engine 102 may include an exhaust gas recirculation (EGR) valve 170, which selectively redirects exhaust gas back to the intake manifold 110. The EGR valve 170 may receive exhaust gas from upstream of the turbocharger turbine 160-1 in the exhaust system 134. The EGR valve 170 may be controlled by an EGR actuator module 172.

Crankshaft position may be measured using a crankshaft position sensor 180. An engine speed may be determined based on the crankshaft position measured using the crankshaft position sensor 180. A temperature of engine coolant may be measured using an engine coolant temperature (ECT) sensor 182. The ECT sensor 182 may be located within the engine 102 or at other locations where the coolant is circulated, such as a radiator (not shown).

A pressure within the intake manifold 110 may be measured using a manifold absolute pressure (MAP) sensor 184. In various implementations, engine vacuum, which is the difference between ambient air pressure and the pressure within the intake manifold 110, may be measured. A mass flow rate of air flowing into the intake manifold 110 may be measured using a mass air flow (MAF) sensor 186. In various implementations, the MAF sensor 186 may be located in a housing that also includes the throttle valve 112.

Position of the throttle valve 112 may be measured using one or more throttle position sensors (TPS) 190. A temperature of air being drawn into the engine 102 may be measured using an intake air temperature (IAT) sensor 192. One or more other sensors 193 may also be implemented. The other sensors 193 include an accelerator pedal position (APP) sensor, a brake pedal position (BPP) sensor, may include a clutch pedal position (CPP) sensor (e.g., in the case of a manual transmission), and may include one or more other types of sensors. An APP sensor measures a position of an accelerator pedal within a passenger cabin of the vehicle. A BPP sensor measures a position of a brake pedal within a passenger cabin of the vehicle. A CPP sensor measures a position of a clutch pedal within the passenger cabin of the vehicle. The other sensors 193 may also include one or more acceleration sensors that measure longitudinal (e.g., fore/aft) acceleration of the vehicle and latitudinal acceleration of the vehicle. An accelerometer is an example type of acceleration sensor, although other types of acceleration sensors may be used. The ECM 114 may use signals from the sensors to make control decisions for the engine 102.

The ECM 114 may communicate with a transmission control module 194, for example, to coordinate engine operation with gear shifts in a transmission 195. The ECM 114 may communicate with a hybrid control module 196, for example, to coordinate operation of the engine 102 and an electric motor 198. While the example of one electric motor is provided, multiple electric motors may be implemented. The electric motor 198 may be a permanent magnet electric motor or another suitable type of electric motor that outputs voltage based on back electromagnetic force (EMF) when free spinning, such as a direct current (DC) electric motor or a synchronous electric motor. In various implementations, various functions of the ECM 114, the transmission control module 194, and the hybrid control module 196 may be integrated into one or more modules.

Each system that varies an engine parameter may be referred to as an engine actuator. Each engine actuator has an associated actuator value. For example, the throttle actuator module 116 may be referred to as an engine actuator, and the throttle opening area may be referred to as the actuator value. In the example of FIG. 1, the throttle actuator module 116 achieves the throttle opening area by adjusting an angle of the blade of the throttle valve 112.

The spark actuator module 126 may also be referred to as an engine actuator, while the corresponding actuator value may be the amount of spark advance relative to cylinder TDC. Other engine actuators may include the cylinder actuator module 120, the fuel actuator module 124, the phaser actuator module 158, the wastegate actuator module 164, and the EGR actuator module 172. For these engine actuators, the actuator values may correspond to a cylinder activation/deactivation sequence, fueling rate, intake and exhaust cam phaser angles, target wastegate opening, and EGR valve opening, respectively.

The ECM 114 may control the actuator values in order to cause the engine 102 to output torque based on a torque request. The ECM 114 may determine the torque request, for example, based on one or more driver inputs, such as an APP, a BPP, a CPP, and/or one or more other suitable driver inputs. The ECM 114 may determine the torque request, for example, using one or more functions or lookup tables that relate the driver input(s) to torque requests.

Under some circumstances, the hybrid control module 196 controls the electric motor 198 to output torque, for example, to supplement engine torque output. The hybrid control module 196 may also control the electric motor 198 to output torque for vehicle propulsion at times when the engine 102 is shut down.

The hybrid control module 196 applies electrical power from an energy storage device (ESD) 199 to the electric motor 198 to cause the electric motor 198 to output positive torque. The ESD 199 may include, for example, one or more batteries and/or a battery pack. The ESD 199 may be dedicated for power flow to and from the electric motor 198, and one or more other batteries or energy storage devices may supply power for other vehicle functions.

The electric motor 198 may output torque, for example, to an input shaft of the transmission 195 or to an output shaft of the transmission 195. A clutch 200 is engaged to couple the electric motor 198 to the transmission 195 and disengaged to decouple the electric motor 198 from the transmission 195. One or more gearing devices may be implemented between an output of the clutch 200 and an input of the transmission 195 to provide a predetermined ratio between rotation of the electric motor 198 and rotation of the input of the transmission 195.

The hybrid control module 196 may also selectively convert mechanical energy of the vehicle into electrical energy. More specifically, the electric motor 198 generates and outputs power via back EMF when the electric motor 198 is being driven by the transmission 195 and the hybrid control module 196 is not applying power to the electric motor 198 from the ESD 199. The hybrid control module 196 may charge the ESD 199 via the power output by the electric motor 198. This may be referred to as regeneration.

Referring now to FIG. 2, a functional block diagram of an example engine control system is presented. The ECM 114 includes a driver torque module 204 that determines a driver torque request 208 based on driver input 212. The driver input 212 may include, for example, an accelerator pedal position (APP), a brake pedal position (BPP), and/or cruise control input. In various implementations, the cruise control input may be provided by an adaptive cruise control system that attempts to maintain at least a predetermined distance between the vehicle and objects in a path of the vehicle. The driver torque module 204 determine the driver torque request 208 based on one or more lookup tables that relate the driver inputs to driver torque requests. The APP and BPP may be measured using one or more APP sensors and BPP sensors, respectively.

The driver torque request 208 is an axle torque request. Axle torques (including axle torque requests) refer to torque at the wheels. As discussed further below, propulsion torques (including propulsion torque requests) are different than axle torques in that propulsion torques may refer to torque at a transmission input shaft.

An axle torque arbitration module 216 arbitrates between the driver torque request 208 and other axle torque requests 220. Axle torque (torque at the wheels) may be produced by various sources including the engine 102 and/or one or more electric motors, such as the electric motor 198. Examples of the other axle torque requests 220 include, but are not limited to, a torque reduction requested by a traction control system when positive wheel slip is detected, a torque increase request to counteract negative wheel slip, brake management requests to reduce axle torque to ensure that the axle torque does not exceed the ability of the brakes to hold the vehicle when the vehicle is stopped, and vehicle over-speed torque requests to reduce the axle torque to prevent the vehicle from exceeding a predetermined speed. The axle torque arbitration module 216 outputs one or more axle torque requests 224 based on the results of arbitrating between the received axle torque requests 208 and 220.

A hybrid module 228 may determine how much of the one or more axle torque requests 224 should be produced by the engine 102 and how much of the one or more axle torque requests 224 should be produced by the electric motor 198. The example of the electric motor 198 will be continued for simplicity, but multiple electric motors may be used. The hybrid module 228 outputs one or more engine torque requests 232 to a propulsion torque arbitration module 236. The engine torque requests 232 indicate a requested torque output of the engine 102.

The hybrid module 228 also outputs a motor torque request 234 to the hybrid control module 196. The motor torque request 234 indicates a requested torque output (positive or negative) of the electric motor 198. In vehicles where the engine 102 is omitted or is not connected to output propulsion torque for the vehicle, the axle torque arbitration module 216 may output one axle torque request and the motor torque request 234 may be equal to that axle torque request.

The propulsion torque arbitration module 236 converts the engine torque requests 232 from an axle torque domain (torque at the wheels) into a propulsion torque domain (e.g., torque at an input shaft of the transmission). The propulsion torque arbitration module 236 arbitrates the converted torque requests with other propulsion torque requests 240. Examples of the other propulsion torque requests 240 include, but are not limited to, torque reductions requested for engine over-speed protection and torque increases requested for stall prevention. The propulsion torque arbitration module 236 may output one or more propulsion torque requests 244 as a result of the arbitration.

An actuator control module 248 controls actuators 252 of the engine 102 based on the propulsion torque requests 244. For example, based on the propulsion torque requests 244, the actuator control module 248 may control opening of the throttle valve 112, timing of spark provided by spark plugs, timing and amount of fuel injected by fuel injectors, cylinder actuation/deactivation, intake and exhaust valve phasing, output of one or more boost devices (e.g., turbochargers, superchargers, etc.), opening of the EGR valve 170, and/or one or more other engine actuators. In various implementations, the propulsion torque requests 244 may be adjusted or modified before use by the actuator control module 248, such as to create a torque reserve.

The hybrid control module 196 controls switching of an inverter module 256 based on the motor torque request 234. Switching of the inverter module 256 controls power flow from the ESD 199 to the electric motor 198. As such, switching of the inverter module 256 controls torque of the electric motor 198. The inverter module 256 also converts power generated by the electric motor 198 and outputs power to the ESD 199, for example, to charge the ESD 199.

The inverter module 256 includes a plurality of switches. The switches are switched to convert DC power from the ESD 199 into alternating current (AC) power and apply the AC power to the electric motor 198 to drive the electric motor 198. For example, the inverter module 256 may convert the DC power from the ESD 199 into 3-phase AC power and apply the 3-phase AC power to (e.g., a, b, and c, or u, v, and w) stator windings of the electric motor 198. Magnetic flux produced via current flow through the stator windings drives a rotor of the electric motor 198. The rotor is connected to and drives rotation of an output shaft of the electric motor 198.

In various implementations, one or more filters may be electrically connected between the inverter module 256 and the ESD 199. The one or more filters may be implemented, for example, to filter power flow to and from the ESD 199. As an example, a filter including one or more capacitors and resistors may be electrically connected in parallel with the inverter module 256 and the ESD 199.

FIG. 3 includes a schematic including an example implementation of the inverter module 256. High (positive) and low (negative) sides 304 and 308 are connected to positive and negative terminals, respectively, of the ESD 199. The inverter module 256 is also connected between the high and low sides 304 and 308.

The inverter module 256 includes three legs, one leg connected to each phase of the electric motor 198. A first leg 312 includes first and second switches 316 and 320. The switches 316 and 320 each include a first terminal, a second terminal, and a control terminal. Each of the switches 316 and 320 may be an insulated gate bipolar transistor (IGBT), a field effect transistor (FET), such as a metal oxide semiconductor FET (MOSFET), or another suitable type of switch. In the example of IGBTs and FETs, the control terminal is referred to as a gate.

The first terminal of the first switch 316 is connected to the high side 304. The second terminal of the first switch 316 is connected to the first terminal of the second switch 320. The second terminal of the second switch 320 may be connected to the low side 308. A node connected to the second terminal of the first switch 316 and the first terminal of the second switch 320 is connected to a first phase (e.g., a) of the electric motor 198.

The first leg 312 also includes first and second diodes 324 and 328 connected anti-parallel to the switches 316 and 320, respectively. In other words, an anode of the first diode 324 is connected to the second terminal of the first switch 316, and a cathode of the first diode 324 is connected to the first terminal of the first switch 316. An anode of the second diode 328 is connected to the second terminal of the second switch 320, and a cathode of the second diode 328 is connected to the first terminal of the second switch 320. When the switches 316 and 320 are off (and open), power generated by the electric motor 198 is transferred through the diodes 324 and 328 when the output voltage of the electric motor 198 is greater than the voltage of the ESD 199. This charges the ESD 199. The diodes 324 and 328 form one phase of a three-phase rectifier.

The inverter module 256 also includes second and third legs 332 and 336. The second and third legs 332 and 336 may be (circuitry wise) similar or identical to the first leg 312. In other words, the second and third legs 332 and 336 may each include respective switches and diodes like the switches 316 and 320 and the diodes 324 and 328, connected in the same manner as the first leg 312. For example, the second leg 332 includes switches 340 and 344 and anti-parallel diodes 348 and 352. A node connected to the second terminal of the switch 340 and the first terminal of the switch 344 is connected to a second stator winding (e.g., b) of the electric motor 198. The third leg 336 includes switches 356 and 360 and anti-parallel diodes 364 and 368. A node connected to the second terminal of the switch 356 and the first terminal of the switch 360 is connected to a third stator winding (e.g., c) of the electric motor 198.

FIG. 4 is a functional block diagram including an example implementation of the hybrid control module 196. A switching control module 404 controls switching of the switches 316 and 320 using pulse width modulation (PWM) signals. For example, the switching control module 404 may apply PWM signals to the control terminals of the switches 316, 320, 340, 344, 356, and 360. When on, power flows from the ESD 199 to the electric motor 198 to drive the electric motor 198.

For example, the switching control module 404 may apply generally complementary PWM signals to the control terminals of the switches 316 and 320 when applying power from the ESD 199 to the electric motor 198. In other words, the PWM signal applied to the control terminal of the first switch 316 is opposite in polarity to the PWM signal applied to the control terminal of the second switch 320. Short circuit current may flow, however, when the turning on of one of the switches 316 and 320 overlaps with the turning off of the other of the switches 316 and 320. As such, the switching control module 404 may generate the PWM signals to turn both of the switches 316 and 320 off during a deadtime period (T dead) before turning either one of the switches 316 and 320 on. With this in mind, generally complementary may mean that two signals have opposite polarities for a majority of their periods when power is being output to the electric motor 198. Around transitions, however, both PWM signals may have the same polarity (off) for some overlap deadtime period.

The PWM signals provided to the switches of the second and third legs 332 and 336 may also be generally complementary per leg. The PWM signals provided to the second and third legs 332 and 336 may be phase shifted from each other and from the PWM signals provided to the switches 316 and 320 of the first leg 312. For example, the PWM signals for each leg may be phase shifted from each other leg by 120° (360°/3 legs=120° shift per leg). In this way, the currents through the stator windings (phases) of the electric motor 198 are phase shifted by 120° from each other.

A current command module 408 determines a d-axis current command (Id Command) and a q-axis current command (Iq Command) for the electric motor 198 based on the motor torque request 234, a (mechanical) rotor speed 432 of the electric motor 198, and a DC bus voltage 410. The current command module 408 may determine the d and q-axis current commands, for example, using one or more equations and/or lookup tables that relate DC bus voltages, speeds, and motor torque requests to d and q-axis current commands.

A voltage sensor 411 measures the DC bus voltage 410 between the ESD 199 and the inverter module 256 (e.g., between the high and low sides 304 and 308). The d-axis current command and the q-axis current command are collectively illustrated by 412. The axis of the field winding in the direction of the DC field is called the rotor direct axis or the d-axis. The axis that is 90 degrees after the d-axis is called the quadrature axis or q-axis.

The rotor speed 432 is a (mechanical) rotational speed of the rotor of the electric motor 198. The rotor speed 432 may be measured, for example, using a rotor speed sensor 436. In various implementations, the rotor speed 432 may be determined by a rotor speed module based on one or more other parameters, such change in position of the rotor over time where position is determined based on phase currents 440 (e.g., Ia, Ib, Ic) of the electric motor 198. Current sensors 442 may measure the phase currents 440, such as in the respective legs of the inverter module 256. In various implementations, one or more of the phase currents 440 may be estimated.

A rate limiting module 452 rate limits changes in the d-axis current command and the q-axis current command. In other words, the rate limiting module 452 may adjust the d-axis current command toward a present value of the d-axis current command by up to a predetermined amount during each control loop. The rate limiting module 452 may adjust the q-axis current command toward a present value of the q-axis current command by up to a predetermined amount during each control loop. The rate limiting module 452 outputs rate limited d-axis and q-axis current commands that result from the rate limiting. The rate limited d-axis and q-axis current commands are collectively illustrated by 454.

A voltage command module 456 determines voltage commands for voltages to apply to the respective phases of the electric motor 198 based on the rate limited d-axis current command and the rate limited q-axis current command, a d-axis current of the electric motor 198, and a q-axis current of the electric motor 198. The d-axis current and the q-axis current are collectively illustrated by 460. The voltage command module 456 may determine the voltage commands 460 using one or more equations and/or lookup tables that relate d and q axis current commands and d and q-axis currents to voltage commands. In various implementations, the voltage command module 456 may generate the voltage commands 460 using closed-loop control to adjust the d and q-axis currents 444 toward or to the rate limited d and q-axis current commands 454, respectively. A frame of reference (FOR) module 448 may transform the phase currents 440 into the d and q-axis currents 444 by applying a Clarke transform and a Park transform.

The switching control module 404 determines final duty cycles of the PWM signals to apply to the phases of the electric motor 198 based on the respective voltage commands of the phases. For example, the switching control module 404 may determine initial duty cycle commands using one or more equations or lookup tables that relate voltage commands to PWM duty cycles. As discussed further below, the switching control module 404 determines the final duty cycle commands of the PWM signals to apply to the phases based on the initial duty cycle commands of the phases, respectively, and the respective phase currents.

The switching control module 404 selectively sets the final duty cycle command for (the high-side switch of) a phase based on the predetermined minimum period (T Min) 520 when the initial duty cycle command of the phase is within a predetermined amount of 0 percent duty cycle and the current of that phase is positive. The switching control module 404 selectively sets the final duty cycle command for (the high-side switch of) a phase based on the predetermined minimum period (T Min) 520 when the initial duty cycle command of the phase is within a predetermined amount of 100 percent duty cycle and the current of that phase is negative.

This improves linearity of output voltage of the inverter module 256, reduces current and torque ripple of the electric motor 198, and may reduce a possibility of occurrence of an overcurrent event. The predetermined minimum period 520 is calibratable and is set to a minimum period for continuously applying power to the control terminal of a switch ensure that the switch turns on in response to the application of power. If power is applied to a switch for less than the predetermined minimum period 520 before the power is removed, the switch may or may not reach the ON (closed) state prior to power being removed from the switch.

FIG. 5 includes a functional block diagram of an example implementation of the switching control module 404. An initial duty cycle (DC) module 504 determines the initial duty cycle commands (of PWM signals) for the phases of the electric motor 198 based on the voltage commands of the phases, respectively. For example, the switching control module 404 may determine the initial duty cycle commands using one or more equations or lookup tables that relate voltage commands to initial duty cycle commands. The initial duty cycle command of the first phase (A) is illustrated by 508 in FIG. 5.

A final duty cycle module 512 determines final duty cycle commands for the (of PWM signals) for the phases of the electric motor 198 based on the initial duty cycle commands of the phases, respectively, the phase currents, respectively, a predetermined switching period 516 (Ts), the predetermined minimum period (Tmin) 520, and the predetermined deadtime period (Tdead) 524. The predetermined switching period 516 corresponds to one period of a fixed predetermined switching frequency of the inverter module 256. The period that a switch is on during a predetermined switching period corresponds to the duty cycle (percentage) applied to the switch multiplied by the predetermined switching period 516. The final duty cycle command of the first phase (A) is illustrated by 528 in FIG. 5. The predetermined minimum period 520 and the predetermined deadtime period 524 are less than the predetermined switching period 516. The predetermined minimum period 520 may be approximately equal to the predetermined deadtime period 524.

A driver module 532 applies power to the switches of the inverter module 256 based on the final duty cycle commands of the phases, respectively. More specifically, the driver module 532 applies power to the high side switch of a phase according to the final duty cycle command of that phase. The drive module 532 applies power to the low-side switch of that phase generally complementarily to the high-side switch of that phase.

For example, the driver module 532 controls applies a signal having a first state to the control terminal of the first switch 316 of the first phase for a first period of a predetermined switching period 516 corresponding to the final duty cycle command 528 of the first phase. The driver module 532 controls applies a signal having a second state to the control terminal of the second switch 320 of the first phase for the first period of the predetermined switching period 516. The driver module 532 applies a signal having the second state to the control terminal of the first switch 316 of the first phase for the second period of the predetermined switching period 516. The driver module 532 applies a signal having the first state to the control terminal of the second switch 320 for the second period of the predetermined switching period 516. As discussed above, the driver module 532 may control the switches of a phase to off for the predetermined deadtime period (T dead) 524 before turning either one of the switches 316 and 320 of that phase on.

FIGS. 6A-6B include an example method of generating the final duty cycle command of a phase, such as the final duty cycle command 528, and controlling switching of the phase based on the final duty cycle command of the phase. Control begins with 604 where the initial duty cycle module 504 determines the initial duty cycle command 508 for the first phase. The initial duty cycle command module 504 determines the initial duty cycle command 508 based on the voltage commands 460. At 608, the final duty cycle module 512 determines whether the current of the first phase (la) is greater than zero (i.e., positive). If 608 is false, control transfers to 650 of FIG. 6B. If 608 is true, control continues with 612.

At 612 (when the current of the first phase is positive, greater than 0), the final duty cycle module 512 determines whether the initial duty cycle command 508 is greater than:

$\frac{{Ts} - \left( {{Tdead} + {Tmin}} \right)}{Ts},$ where Ts is the predetermined switching period 516, Tdead is the predetermined deadtime period 524, and Tmin is the predetermined minimum period 520. If 612 is true, control continues with 616. If 612 is false, control transfers to 628, which is discussed further below.

At 616, the final duty cycle module 512 determines whether the initial duty cycle command 508 is greater than:

$\frac{\left( {{Ts} - {\left( {{Tdead} + {Tmin}} \right)/2}} \right)}{Ts},$ where Ts is the predetermined switching period 516, Tdead is the predetermined deadtime period 524, and Tmin is the predetermined minimum period 520. If 616 is true, the final duty cycle module 512 sets the final duty cycle command 528 for the first phase equal to 1.0 at 620, and control continues with 700, which is discussed further below. If 616 is false, at 624 the final duty cycle module 512 sets the final duty cycle command 528 equal to:

$\frac{\left( {{Ts} - \left( {{Tdead} + {Tmin}} \right)} \right)}{Ts},$ where Ts is the predetermined switching period 516, Tdead is the predetermined deadtime period 524, and Tmin is the predetermined minimum period 520. Control then continues to 700, which is discussed further below.

At 628, the final duty cycle module 512 determines whether the initial duty cycle command 508 is less than:

$\frac{Tdead}{T\; s},$ where Ts is the predetermined switching period 516 and Tdead is the predetermined deadtime period 524. If 628 is false, the final duty cycle module 512 sets the final duty cycle command 528 for the first phase equal to the initial duty cycle command 508 for the first phase at 632, and control continues with 700, which is discussed further below. If 628 is true, control transfers to 636.

At 636, the final duty cycle module 512 determines whether the initial duty cycle command 508 is less than:

$\frac{{Tdead}/2}{Ts},$ where Ts is the predetermined switching period 516 and Tdead is the predetermined deadtime period 524. If 636 is true, the final duty cycle module 512 sets the final duty cycle command 528 for the first phase equal to zero at 640, and control continues with 700, which is discussed further below. If 636 is false, at 644 the final duty cycle module 512 sets the final duty cycle command 528 equal to:

$\frac{Tdead}{T\; s},$ where Ts is the predetermined switching period 516 and Tdead is the predetermined deadtime period 524. Control then continues to 700, which is discussed further below.

Referring now to FIG. 6B, at 650 (when the current of the first phase is negative, less than 0) the final duty cycle module 512 determines whether the initial duty cycle command 508 is greater than:

$\frac{{Ts} - {Tdead}}{Ts},$ where Ts is the predetermined switching period 516 and Tdead is the predetermined deadtime period 524. If 650 is true, control continues with 654. If 650 is false, control transfers to 666, which is discussed further below.

At 654, the final duty cycle module 512 determines whether the initial duty cycle command 508 is greater than:

$\frac{\left( {{Ts} - \left( \frac{Tdead}{2} \right)} \right)}{Ts},$ where Ts is the predetermined switching period 516 and Tdead is the predetermined deadtime period 524. If 654 is true, the final duty cycle module 512 sets the final duty cycle command 528 for the first phase equal to one (1.0) at 658, and control continues with 700, which is discussed further below. If 654 is false, at 662 the final duty cycle module 512 sets the final duty cycle command 528 equal to:

$\frac{{Ts} - {Tdead}}{Ts},$ where Ts is the predetermined switching period 516 and Tdead is the predetermined deadtime period 524. Control then continues to 700, which is discussed further below.

At 666, the final duty cycle module 512 determines whether the initial duty cycle command 508 is less than:

$\frac{{Tdead} + {Tmin}}{Ts},$ where Ts is the predetermined switching period 516, Tmin is the predetermined minimum period 520, and Tdead is the predetermined deadtime period 524. If 666 is false, the final duty cycle module 512 sets the final duty cycle command 528 for the first phase equal to the initial duty cycle command 508 at 670, and control continues with 700, which is discussed further below. If 666 is true, control transfers to 674.

At 674, the final duty cycle module 512 determines whether the initial duty cycle command 508 is less than:

$\frac{\left( {{Tdead} + {Tmin}} \right)/2}{Ts},$ where Ts is the predetermined switching period 516, Tmin is the predetermined minimum period 520, and Tdead is the predetermined deadtime period 524. If 674 is true, the final duty cycle module 512 sets the final duty cycle command 528 for the first phase equal to zero (0.0) at 678, and control continues with 700, which is discussed further below. If 674 is false, at 682 the final duty cycle module 512 sets the final duty cycle command 528 for the first phase equal to

$\frac{{Tdead} + {Tmin}}{Ts},$ where Ts is the predetermined switching period 516, Tdead is the predetermined deadtime period 524, and Tmin is the predetermined minimum period 520. Control then continues to 700 (FIG. 6A).

At 700 (FIG. 6A), the 700, the driver module 532 controls switching of the switches of the first phase based on the final duty cycle command 528 for the first phase. For example, when the final duty cycle command 528 is zero (0.0), the driver module 532 may maintain the first switch 316 open continuously throughout the predetermined switching period Ts 516. When the final duty cycle command 528 is one (1.0), the driver module 532 may maintain the first switch 316 closed throughout the entire predetermined switching period Ts 516. When the final duty cycle command 528 is a value between 0.0 and 1.0, the driver module 532 maintains the first switch 316 closed continuously for the percentage of the predetermined switching period Ts 516 corresponding to the final duty cycle command 528 (final duty cycle command*100=percentage). The driver module 532 controls the second switch 320 generally complementarily to the first switch 316.

Control returns to 604 for a next predetermined switching period Ts 516. While the example of FIGS. 6A-6B is discussed in terms of the first phase for simplicity, FIGS. 6A-6B may be performed concurrently for each other phase.

The foregoing description is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses. The broad teachings of the disclosure can be implemented in a variety of forms. Therefore, while this disclosure includes particular examples, the true scope of the disclosure should not be so limited since other modifications will become apparent upon a study of the drawings, the specification, and the following claims. It should be understood that one or more steps within a method may be executed in different order (or concurrently) without altering the principles of the present disclosure. Further, although each of the embodiments is described above as having certain features, any one or more of those features described with respect to any embodiment of the disclosure can be implemented in and/or combined with features of any of the other embodiments, even if that combination is not explicitly described. In other words, the described embodiments are not mutually exclusive, and permutations of one or more embodiments with one another remain within the scope of this disclosure.

Spatial and functional relationships between elements (for example, between modules, circuit elements, semiconductor layers, etc.) are described using various terms, including “connected,” “engaged,” “coupled,” “adjacent,” “next to,” “on top of,” “above,” “below,” and “disposed.” Unless explicitly described as being “direct,” when a relationship between first and second elements is described in the above disclosure, that relationship can be a direct relationship where no other intervening elements are present between the first and second elements, but can also be an indirect relationship where one or more intervening elements are present (either spatially or functionally) between the first and second elements. As used herein, the phrase at least one of A, B, and C should be construed to mean a logical (A OR B OR C), using a non-exclusive logical OR, and should not be construed to mean “at least one of A, at least one of B, and at least one of C.”

In the figures, the direction of an arrow, as indicated by the arrowhead, generally demonstrates the flow of information (such as data or instructions) that is of interest to the illustration. For example, when element A and element B exchange a variety of information but information transmitted from element A to element B is relevant to the illustration, the arrow may point from element A to element B. This unidirectional arrow does not imply that no other information is transmitted from element B to element A. Further, for information sent from element A to element B, element B may send requests for, or receipt acknowledgements of, the information to element A.

In this application, including the definitions below, the term “module” or the term “controller” may be replaced with the term “circuit.” The term “module” may refer to, be part of, or include: an Application Specific Integrated Circuit (ASIC); a digital, analog, or mixed analog/digital discrete circuit; a digital, analog, or mixed analog/digital integrated circuit; a combinational logic circuit; a field programmable gate array (FPGA); a processor circuit (shared, dedicated, or group) that executes code; a memory circuit (shared, dedicated, or group) that stores code executed by the processor circuit; other suitable hardware components that provide the described functionality; or a combination of some or all of the above, such as in a system-on-chip.

The module may include one or more interface circuits. In some examples, the interface circuits may include wired or wireless interfaces that are connected to a local area network (LAN), the Internet, a wide area network (WAN), or combinations thereof. The functionality of any given module of the present disclosure may be distributed among multiple modules that are connected via interface circuits. For example, multiple modules may allow load balancing. In a further example, a server (also known as remote, or cloud) module may accomplish some functionality on behalf of a client module.

The term code, as used above, may include software, firmware, and/or microcode, and may refer to programs, routines, functions, classes, data structures, and/or objects. The term shared processor circuit encompasses a single processor circuit that executes some or all code from multiple modules. The term group processor circuit encompasses a processor circuit that, in combination with additional processor circuits, executes some or all code from one or more modules. References to multiple processor circuits encompass multiple processor circuits on discrete dies, multiple processor circuits on a single die, multiple cores of a single processor circuit, multiple threads of a single processor circuit, or a combination of the above. The term shared memory circuit encompasses a single memory circuit that stores some or all code from multiple modules. The term group memory circuit encompasses a memory circuit that, in combination with additional memories, stores some or all code from one or more modules.

The term memory circuit is a subset of the term computer-readable medium. The term computer-readable medium, as used herein, does not encompass transitory electrical or electromagnetic signals propagating through a medium (such as on a carrier wave); the term computer-readable medium may therefore be considered tangible and non-transitory. Non-limiting examples of a non-transitory, tangible computer-readable medium are nonvolatile memory circuits (such as a flash memory circuit, an erasable programmable read-only memory circuit, or a mask read-only memory circuit), volatile memory circuits (such as a static random access memory circuit or a dynamic random access memory circuit), magnetic storage media (such as an analog or digital magnetic tape or a hard disk drive), and optical storage media (such as a CD, a DVD, or a Blu-ray Disc).

The apparatuses and methods described in this application may be partially or fully implemented by a special purpose computer created by configuring a general purpose computer to execute one or more particular functions embodied in computer programs. The functional blocks, flowchart components, and other elements described above serve as software specifications, which can be translated into the computer programs by the routine work of a skilled technician or programmer.

The computer programs include processor-executable instructions that are stored on at least one non-transitory, tangible computer-readable medium. The computer programs may also include or rely on stored data. The computer programs may encompass a basic input/output system (BIOS) that interacts with hardware of the special purpose computer, device drivers that interact with particular devices of the special purpose computer, one or more operating systems, user applications, background services, background applications, etc.

The computer programs may include: (i) descriptive text to be parsed, such as HTML (hypertext markup language), XML (extensible markup language), or JSON (JavaScript Object Notation) (ii) assembly code, (iii) object code generated from source code by a compiler, (iv) source code for execution by an interpreter, (v) source code for compilation and execution by a just-in-time compiler, etc. As examples only, source code may be written using syntax from languages including C, C++, C#, Objective-C, Swift, Haskell, Go, SQL, R, Lisp, Java®, Fortran, Perl, Pascal, Curl, OCaml, Javascript®, HTML5 (Hypertext Markup Language 5th revision), Ada, ASP (Active Server Pages), PHP (PHP: Hypertext Preprocessor), Scala, Eiffel, Smalltalk, Erlang, Ruby, Flash®, Visual Basic®, Lua, MATLAB, SIMULINK, and Python®. 

What is claimed is:
 1. An electric motor control system of a vehicle, comprising: a current command module configured to, based on a motor torque request for an electric motor of the vehicle, generate a d-axis current command for the electric motor and a q-axis current command for the electric motor; a voltage command module configured to generate voltage commands based on the d-axis current command and the q-axis current command; a switching control module configured to: based on the d-axis current command and the q-axis current command, determine a first duty cycle command for a phase of the electric motor; generate a second duty cycle command directly based on the first duty cycle command, a predetermined minimum period to transition switches of an inverter module from OFF to ON, a predetermined switching period, a predetermined deadtime period when both of the switches are OFF before one of the switches is turned ON, and whether a current of the phase is positive or negative, wherein the switches are connected between an energy storage device and the phase of the electric motor; and based on the second duty cycle command, control switching of the switches the inverter module and control application of power from the energy storage device to the phase of the electric motor.
 2. The electric motor control system of claim 1 wherein the switching control module is configured to, when the current of the phase is positive and the first duty cycle command is greater than $\frac{\left( {{Ts} - \left( {{Tdead} + {Tmin}} \right)} \right)}{Ts},$ but less than $\frac{\left( {{{Ts}\left( {{Tdead} + {Tmin}} \right)}/2} \right)}{Ts},$ set the second duty cycle command based on $\frac{\left( {{Ts} - \left( {{Tdead} + {Tmin}} \right)} \right)}{Ts},$ wherein Ts is the predetermined switching period, Tmin is the predetermined minimum period to transition the switches from OFF to ON, and Tdead is the predetermined deadtime period.
 3. The electric motor control system of claim 1 wherein the switching control module is configured to, when the current of the phase is positive and the first duty cycle command is greater than both $\frac{\left( {{Ts} - \left( {{Tdead} + {Tmin}} \right)} \right)}{Ts}$ and $\frac{\left( {{Ts} - {\left( {{Tdead} + {Tmin}} \right)/2}} \right.}{Ts},$ set the second duty cycle command based on a 100 percent duty cycle, wherein Ts is the predetermined switching period, Tmin is the predetermined minimum period to transition the switches from OFF to ON, and Tdead is the predetermined deadtime period.
 4. The electric motor control system of claim 1 wherein the switching control module is configured to, when the current of the phase is positive and the first duty cycle command is less than $\frac{\left( {{Ts} - \left( {{Tdead} + {Tmin}} \right)} \right)}{Ts},$ but greater than $\frac{Tdead}{T\; s},$ set the second duty cycle command equal to the first duty cycle command, wherein Ts is the predetermined switching period, Tmin is the predetermined minimum period to transition the switches from OFF to ON, and Tdead is the predetermined deadtime period.
 5. The electric motor control system of claim 1 wherein the switching control module is configured to, when the current of the phase is positive and the first duty cycle command is less than $\frac{\left( {{Ts} - \left( {{Tdead} + {Tmin}} \right)} \right)}{Ts}$ and $\frac{{Tdead}/2}{Ts}$ set the second duty cycle command based on a 0 percent duty cycle, wherein Ts is the predetermined switching period, Tmin is the predetermined minimum period to transition the switches from OFF to ON, and Tdead is the predetermined deadtime period.
 6. The electric motor control system of claim 1 wherein the switching control module is configured to, when the current of the phase is positive and the first duty cycle command is less than $\frac{\left( {{Ts} - \left( {{Tdead} + {Tmin}} \right)} \right)}{Ts}$ and $\frac{Tdead}{Ts}$ but is greater than $\frac{{Tdead}/2}{Ts},$ set the second duty cycle command based on $\frac{Tdead}{T\; s},$ wherein Ts is the predetermined switching period, Tmin is the predetermined minimum period to transition the switches from OFF to ON, and Tdead is the predetermined deadtime period.
 7. The electric motor control system of claim 1 wherein the switching control module is configured to, when the current of the phase is negative and the first duty cycle command is greater than $\frac{{Ts} - {Tdead}}{Ts},$ but less than $\frac{{Ts} - \left( {{Tdead}/2} \right)}{Ts},$ set the second duty cycle command based on $\frac{{Ts} - {Tdead}}{Ts},$ wherein Ts is the predetermined switching period, Tmin is the predetermined minimum period to transition the switches from OFF to ON, and Tdead is the predetermined deadtime period.
 8. The electric motor control system of claim 1 wherein the switching control module is configured to, when the current of the phase is negative and the first duty cycle command is greater than both $\frac{{Ts} - {Tdead}}{Ts}$ and $\frac{{Ts} - \left( {{Tdead}/2} \right)}{Ts},$ set the second duty cycle command based on a 100 percent duty cycle, wherein Ts is the predetermined switching period, Tmin is the predetermined minimum period to transition the switches from OFF to ON, and Tdead is the predetermined deadtime period.
 9. The electric motor control system of claim 1 wherein the switching control module is configured to, when the current of the phase is negative and the first duty cycle command is less than $\frac{{Ts} - {Tdead}}{Ts},$ but greater than $\frac{{Tdead} + {Tmin}}{Ts},$ set the second duty cycle command equal to the first duty cycle command, wherein Ts is the predetermined switching period, Tmin is the predetermined minimum period to transition the switches from OFF to ON, and Tdead is the predetermined deadtime period.
 10. The electric motor control system of claim 1 wherein the switching control module is configured to, when the current of the phase is negative and the first duty cycle command is less than $\frac{{Ts} - {Tdead}}{Ts},$ $\frac{{Tdead} + {Tmin}}{Ts},$ and $\frac{\left( {{Tdead} + {Tmin}} \right)/2}{Ts},$ set the second duty cycle command based on a 0 percent duty cycle, wherein Ts is the predetermined switching period, Tmin is the predetermined minimum period to transition the switches from OFF to ON, and Tdead is the predetermined deadtime period.
 11. The electric motor control system of claim 1 wherein the switching control module is configured to, when the current of the phase is negative and the first duty cycle command is less than $\frac{{Ts} - {Tdead}}{Ts}$ and $\frac{{Tdead} + {Tmin}}{Ts},$ but greater than $\frac{\left( {{Tdead} + {Tmin}} \right)/2}{Ts},$ set the second duty cycle command based on $\frac{{Tdead} + {Tmin}}{Ts},$ wherein Ts is the predetermined switching period, Tmin is the predetermined minimum period to transition the switches from OFF to ON, and Tdead is the predetermined deadtime period.
 12. The electric motor control system of claim 1 further comprising a current sensor configured to measure the current of the phase.
 13. The electric motor control system of claim 1 wherein the predetermined deadtime period and the predetermined minimum period are less than the predetermined switching period.
 14. The electric motor control system of claim 1 wherein the switching control module is further configured to: based on the d-axis current command and the q-axis current command, determine a third duty cycle command for a second phase of the electric motor; generate a fourth duty cycle command based on the third duty cycle command, the predetermined minimum period to transition second switches of the inverter module from OFF to ON, the predetermined switching period, the predetermined deadtime period, and whether a second current of the second phase is positive or negative, wherein the second switches are connected between the energy storage device and the second phase of the electric motor; and based on the fourth duty cycle command, control switching of the second switches the inverter module and control application of power from the energy storage device to the second phase of the electric motor.
 15. The electric motor control system of claim 14 wherein the switching control module is further configured to: based on the d-axis current command and the q-axis current command, determine a fifth duty cycle command for a third phase of the electric motor; generate a sixth duty cycle command based on the fifth duty cycle command, the predetermined minimum period to transition third switches of the inverter module from OFF to ON, the predetermined switching period, the predetermined deadtime period, and whether a third current of the third phase is positive or negative, wherein the third switches are connected between the energy storage device and the third phase of the electric motor; and based on the sixth duty cycle command, control switching of the third switches the inverter module and control application of power from the energy storage device to the third phase of the electric motor.
 16. An electric motor control method for a vehicle, comprising: based on a motor torque request for an electric motor of the vehicle, generating a d-axis current command for the electric motor and a q-axis current command for the electric motor; generating voltage commands based on the d-axis current command and the q-axis current command; based on the d-axis current command and the q-axis current command, determining a first duty cycle command for a phase of the electric motor; generating a second duty cycle command directly based on the first duty cycle command, a predetermined minimum period to transition switches of an inverter module from OFF to ON, a predetermined switching period, a predetermined deadtime period when both of the switches are OFF before one of the switches is turned ON, and whether a current of the phase is positive or negative, wherein the switches are connected between an energy storage device and the phase of the electric motor; and based on the second duty cycle command, controlling switching of the switches the inverter module and controlling application of power from the energy storage device to the phase of the electric motor.
 17. The electric motor control method of claim 16 further comprising: when the current of the phase is positive and the first duty cycle command is greater than $\frac{\left( {{Ts} - \left( {{Tdead} + {Tmin}} \right)} \right)}{Ts},$ but less than $\frac{\left( {{Ts} - {\left( {{Tdead} + {Tmin}} \right)/2}} \right.}{Ts},$ setting the second duty cycle command based on $\frac{\left( {{Ts} - \left( {{Tdead} + {Tmin}} \right)} \right)}{Ts},$ wherein Ts is the predetermined switching period, Tmin is the predetermined minimum period to transition the switches from OFF to ON, and Tdead is the predetermined deadtime period; and when the current of the phase is positive and the first duty cycle command is greater than both $\frac{\left( {{Ts} - \left( {{Tdead} + {Tmin}} \right)} \right)}{Ts}$ and $\frac{\left( {{Ts} - {\left( {{Tdead} + {Tmin}} \right)/2}} \right)}{Ts},$ setting the second duty cycle command based on a 100 percent duty cycle.
 18. The electric motor control method of claim 16 further comprising: when the current of the phase is positive and the first duty cycle command is less than $\frac{\left( {{Ts} - \left( {{Tdead} + {Tmin}} \right)} \right)}{Ts},$ but greater than $\frac{Tdead}{T\; s},$ setting the second duty cycle command equal to the first duty cycle command, wherein Ts is the predetermined switching period, Tmin is the predetermined minimum period to transition the switches from OFF to ON, and Tdead is the predetermined deadtime period; and when the current of the phase is positive and the first duty cycle command is less than $\frac{\left( {{Ts} - \left( {{Tdead} + {Tmin}} \right)} \right)}{Ts}$ and $\frac{{Tdead}/2}{Ts},$ setting the second duty cycle command based on a 0 percent duty cycle.
 19. The electric motor control method of claim 16 further comprising: when the current of the phase is positive and the first duty cycle command is less than $\frac{\left( {{T\; s} - \left( {{T\;{dead}} + {T\;\min}} \right)} \right)}{T\; s}$ and $\frac{Tdead}{T\; s}$ but is greater than $\frac{T\;{{dead}/2}}{T\; s},$ setting the second duty cycle command based on $\frac{Tdead}{Ts},$ wherein Ts is the predetermined switching period, Tmin is the predetermined minimum period to transition the switches from OFF to ON, and Tdead is the predetermined deadtime period; and when the current of the phase is negative and the first duty cycle command is greater than $\frac{{T\; s} - {T\;{dead}}}{T\; s},$ but less than $\frac{{T\; s} - \left( {T\;{{dead}/2}} \right)}{T\; s},$ setting the second duty cycle command based on $\frac{{T\; s} - {T\;{dead}}}{T\; s}.$
 20. The electric motor control method of claim 16 further comprising: when the current of the phase is negative and the first duty cycle command is greater than both $\frac{{T\; s} - {T\;{dead}}}{T\; s}$ and $\frac{{T\; s} - \left( {T\;{{dead}/2}} \right)}{T\; s},$ setting the second duty cycle command based on a 100 percent duty cycle, wherein Ts is the predetermined switching period, Tmin is the predetermined minimum period to transition the switches from OFF to ON, and Tdead is the predetermined deadtime period, when the current of the phase is negative and the first duty cycle command is less than $\frac{{T\; s} - {T\;{dead}}}{T\; s},$ but greater than $\frac{{T\;{dead}} + {T\;\min}}{T\; s},$ setting the second duty cycle command equal to the first duty cycle command; when the current of the phase is negative and the first duty cycle command is less than $\frac{{T\; s} - {T\;{dead}}}{T\; s},\frac{{T\;{dead}} + {T\;\min}}{T\; s},$ and $\frac{\left( {{T\;{dead}} + {T\;\min}} \right)/2}{T\; s},$ setting the second duty cycle command based on a 0 percent duty cycle; and when the current of the phase is negative and the first duty cycle command is less than $\frac{{T\; s} - {T\;{dead}}}{T\; s}$ and $\frac{{T\;{dead}} + {T\;\min}}{T\; s},$ but greater than $\frac{\left( {{T\;{dead}} + {T\;\min}} \right)/2}{T\; s},$ setting the second duty cycle command based on $\frac{{T\;{dead}} + {T\;\min}}{T\; s}.$ 